DE102010019640A1 - Handheld device and method for controlling and / or programming a manipulator - Google Patents

Abstract

A portable hand-held device (1) according to the invention for controlling and / or programming a manipulator, in particular a robot, comprises a handling device (2, 3) for handling the hand-held device by an operator, a position detection device (4) whose spatial position can be detected, and a the position detection device, in particular releasably, connected probe element (5) on which a reference point (R) is defined, wherein the handling device (2, 3) and the position detection means (4) are hinged together. A force detection device of the handset allows the optional specification of position or force components as desired values and / or the detection of a contact of the handset with the environment.

Description

The present invention relates to a portable handheld device and a method for controlling and / or programming a manipulator, in particular a robot.

In working processes, a manipulator, when executing a program with a reference point, for example the Tool Center Point ("TCP"), moves to various operating points whose positions were previously stored in the manipulator control.

In the present case, the position of a point is generally its position, i. e. Distance components of the point to the origin of a reference coordinate system, and / or an orientation of a reference point fixed coordinate system relative to a reference coordinate system referred to. The position of an operating point in space can therefore be determined, for example, by one or more Cartesian coordinates (x, y, z) of the reference point in a coordinate system defined, for example, in the base frame of a manipulator or machining cell, and / or one or more angles, for example EULER or KARDAN angles (α, β, γ) against this coordinate system.

To approach an operating point, a manipulator in his joints certain joint positions, such as rotation angle, occupy, with known kinematics of the manipulator joint positions and position of the point in the working space can be transformed by solving the forward or reverse kinematics. A position of a point can therefore equally be described for example by joint positions of the manipulator and stored accordingly in the manipulator control.

To save such operating points, in addition to the offline programming and teaching by manually starting the work points with the manipulator, for example, from the WO 01/30545 A1 already known a portable handset whose position is detected by an optical tracking system and accelerometer, and having a probe element with a defined reference point. The operator guides this reference point by moving the hand-held device to the desired operating point, where the position of the reference point is detected by the tracking system and the accelerometer and stored as the position of the operating point.

In the DE 100 48 952 A1 It is proposed to pivot a probe element relative to sensors of the hand-held device in order to facilitate eye contact between the optical sensors and reference markings of a tracking system. However, this not only changes the transformation between the detected spatial position of the sensors and the reference point of the probe element, which requires additional detection of this variable transformation and represents an additional source of error. It also does not simplify the operation of the handset, since the keyboard to be operated and the display to be read are connected to the sensors. If the sensors have to be brought into a specific position by turning around the reference point remaining at the operating point in order to enable visual contact with the reference markings, for example by the disclosed pivoting of the feeler element and sensors relative to one another, this can bring the keyboard and display into an unfavorable position for the operator bring.

The not previously published German patent application DE 10 2008 062 624.4 The Applicant therefore proposes a hand-held device for detecting the spatial position of an operating point with a handling device articulated to a position-detecting device.

In particular, in machining processes, such as welding, grinding, polishing, Entraten or the like, the manipulator is at least temporarily in frictional contact with its environment, in particular a workpiece to be machined, which thereby exerts a reaction force to a reference point of the manipulator.

In order for the manipulator to impose desired process forces on its environment, these must be specified as nominal values of a force control. For this purpose, for example, can be switched depending on the contact state between position and force control and / or a hybrid force position control, such as a compliance control such as in particular an impedance or admittance control can be performed.

The programming of such arrangements is not possible with the hand-held devices known from the above prior art, which permit neither the detection of desired forces nor the detection of contact states.

The object of the present invention is to improve the control and / or programming of a manipulator and to avoid at least one of the aforementioned disadvantages.

This object is achieved by a portable hand-held device with the features of claim 1 and / or by a method having the features of claim 9 or 12. Claim 14 presents a corresponding computer program product under protection, the dependent claims relate to advantageous developments.

A portable handheld device or method according to the invention is used for controlling and / or programming a manipulator, in particular a robot. In this case, programming is in particular understood to be the acquisition of nominal values by the handheld device and its storage in the handheld device or one, preferably permanently or temporarily wired, wirelessly or via an interface, in particular a USB interface, processing device, in particular a manipulator control. which then tries to reach these target values during operation. On the other hand, the manipulator can be controlled online, in particular, so that the manipulator seeks to set desired quantities detected by the hand-held device in a timely manner when it is used, for example, as a telerobot.

For a more compact representation is present as a controller and a control, i. e. the output of manipulated variables based on a comparison of nominal and actual sizes. Also for compact presentation is also an antiparallel pair of forces, i. e. a torque, in the present generalized referred to as a force. In this respect, a force detection device in the sense of the present invention can also have, for example, a single- or multi-axis torque sensor or one or more, in particular six-axis, force torque sensors.

A hand-held device according to a first aspect of the present invention comprises a handling device for handling the hand-held device by an operator, a position detection device and a feeler element connected to the position detection device, on which a reference point is defined, the position of which can be detected by the position detection device.

The handling device may in particular comprise an input device for input by the operator, for example one or more keys, switches or the like, an output device for output to the operator, in particular one or more displays, and / or a handle for the operator. The position detection device may comprise one or more markers, which are detectable by a reference frame fixed tracking device, and / or sensors, which in turn detect reference marks of a reference system, and thus enable detection of the position of the reference point of the associated with the position detection device probe element.

According to the invention, it is proposed that the handset has a force detection device for detecting a reaction force acting on the feeler element, and that the handling device and the position detection device are articulated to one another.

The articulated connection of the handling and position detection device makes it possible, on the one hand, to bring the position detection device into a desired position in which, for example, its position can be detected well, since, for example, a sufficient number of markers are visible to an optical tracking device, or in the example shown in FIG Position sensing device connected probe element simulates a desired position of a manipulator tool and in particular exerts a desired process force on the environment, and at the same time to bring the handling device in an advantageous spatial position in which, for example, their display well visible, their keyboard easily accessible or ergonomically placed their handle ergonomically is.

For this purpose, in a preferred embodiment, handling device and position detection device can be connected to one another in a rotary joint with one or more, preferably three rotary degrees of freedom, as provided by a ball joint. Additionally or alternatively, however, translational joints such as hinges, parallelogram guides, linear axes or the like are also possible.

Degrees of freedom of the joint between handling and position detection device are lockable or self-locking in a preferred embodiment. For example, a ball joint by friction remain self-locking in a rotational position until the operator adjusts this by overcoming a minimum operating force. Similarly, a ball joint can lock in certain rotational positions or it can be locked, for example by adjusting screws, activating holding magnets, activating brakes or the like one or more directions of rotation. The same applies of course to translational axes of corresponding joints.

Preferably, the joint between the handling and position detection means is designed such that it remains in a position as long as detected by the force detection means acting on the probe reaction forces do not exceed a predetermined value, which preferably corresponds to at least one exercisable by the operator minimum force. For this purpose, for example, a frictional engagement can be designed to be correspondingly high.

In a preferred embodiment, handling device and position detection device are releasably connected to one another, which enables the combination of different handling devices, for example with different displays and / or operating elements, with different position detection devices, which are set up, for example, for detection by different tracking devices.

Correspondingly, the probe element connected to the position detection device can also be detachably fastened to the position detection device in order to allow a combination of different position detection devices with different probe elements, for example having different geometric dimensions for probing operating points in different environments or for simulating a tool and / or with different ones Force sensing devices can be provided. Such sensing elements detachably connected to the position detection device are also immovable relative to the position detection device in order to ensure a constant transformation between the detected spatial position of the position detection device and the reference point on the sensing element.

In a preferred embodiment, a consent switch is arranged in a handle of the handling device, which must be actuated by the operator in order to be able to move, for example, manipulator or additional axes if necessary, and / or to ensure that arranged in the environment of the operator manipulators not endanger them , Particularly preferably, the enabling switch can be actuated with the index finger, so that other switches can be operated in particular with the thumb of the hand holding the handling device.

In order to facilitate efficient detection of meaningful working points that can be realized with the manipulator, the feeler element, optionally together with the position detection device, can be designed as a dummy tool, i. e. have substantially the shape of at least part of an outer contour of the tool, with which the manipulator is to approach the operating points. The reference point defined on the probe element preferably corresponds to the TCP.

In a preferred embodiment, the position detection device has one or more, preferably at least three, active and / or passive markers which are designed for detection by a tracking device. These may be, for example, emitting, active or reflective, passive markers of predetermined geometric shape, which can be detected by an optical tracking device, which operates, for example, in the visible or ultraviolet range, or an acoustic tracking device which operates, for example, in the ultrasonic range.

Additionally or alternatively, the position detection device may also have one or more, preferably at least three sensors, for example acceleration sensors, but also sensors of an inertial measuring system or sensors, which in turn detect active or passive markers of a reference system, for example optically or acoustically, and thus also detect the detection of the Allow spatial position of the position detection device and thus the reference point of the associated with her probe element.

In a preferred embodiment, the position detection device comprises a plurality of markers and / or sensors which are distributed over the circumference of one or more rings which extend around the, preferably substantially cylindrical, position detection device. This facilitates the detection of the markers of a ring or detection by sensors of a ring from all directions normal to the perpendicular bisector through the center of this ring and in particular allows a rotation of the position detecting means about these perpendicular bisectors, without affecting the detection.

Preferably, the position detection device has at least two such rings whose mid-perpendiculars are not coaxial and in particular enclose an angle greater than or equal to 10 ° with each other. This increases the visibility in viewing direction of the tracking device or sensors along a bisector of a ring on the markers or sensors of the other ring.

Often, a tool is guided in a particular main direction and placed on a workpiece which is oriented at a, for example process-related angle, for example, substantially normal to a workpiece surface. For example, a glue gun or welding tongs are often fed vertically to a horizontally oriented workpiece surface.

On the other hand, cameras of a tracking device are preferably likewise tilted at certain angles, for example at about 45 °, against the surface normal of the workpiece surface. If a detection direction of markers with an attached handset is also substantially inclined at about 45 ° to the surface normal of the workpiece surface, this results in optimum detectability by the cameras, which essentially look directly at the markers in the detection direction. Generally, the orientation of the sensor detection direction at a certain angle allows the handset to be positioned within a cone with this aperture angle without affecting the detection.

In a preferred embodiment, therefore, a detection direction of at least one marker or sensor in which the detection is particularly favorable, for example the optical axis of a sensor or the surface normal of a reflective marker, at an angle to a main direction of the probe element and / or the position detection device, For example, a longitudinal or symmetry axis, a preferred Aufsetzrichtung of the probe element, a thrust direction of the dummy tool or, when placed in detection position dummy tool, a surface normal of a workpiece on which the operating point to be detected is inclined, between 15 ° and 75 °, in particular between 30 ° and 60 °, and is particularly preferably substantially 45 °.

Preferably, the handling device has an input device for input by the operator, which is set up to control an additional axis of the manipulator, in particular a tool table. As a result, the operator can actuate additional axes of the manipulator, for example the axes of rotation of a turning and / or tilting table on which the workpiece is fixed, in particular for probing different working points in different workpiece positions by the handheld device, in order to suit the workpiece, in particular in each case position, as it is later arranged during processing of the workpiece by the manipulator, without having to handle another input device.

In a preferred embodiment, first of all a position of the reference point is detected and subsequently displaced by the operator in a predetermined direction, in particular a thrust direction of a tool or a surface normal to a workpiece surface, for example by inputting a shift amount. The position thus shifted with respect to the detected position in the predetermined direction is then detected as the position of the operating point of the manipulator.

If operating points stored in the detection and storage of operating point positions due to measurement and calculation tolerances, for example welding or adhesive points, are located incorrectly within the workpiece contour, the manipulator-controlled tool is in danger of being run by the manipulator when executing a program based on such positions penetrates into the workpiece and thereby damage the workpiece and / or -zeug, the operator can correct this by shifting stored within the workpiece contour stored operating points out of the workpiece contour out. However, this is difficult, especially with a variety of stored positions, offline without a workpiece. Here, the preferred embodiment facilitates the detection of an advantageous, lying outside the workpiece operating point position by a direction, for example, the thrust direction of a tool or the surface normal of a workpiece surface, preferably automatically, given and moved the first erroneously detected position in this direction and then as - well stored outside the workpiece - operating point position is stored.

According to a second aspect of the present invention, by a handset in addition to a position of a reference point of this handset also on this handset, in particular this reference point, acting reaction force detected and a dominant target size of a control of the manipulator in at least one direction based on either a position component of the detected Position or a force component of the detected reaction force predetermined.

For this purpose, in particular a hand-held device according to the above-explained first aspect can be used, which for this purpose has the force detection device for detecting a reaction force acting on the feeler element.

By detecting, according to the second aspect, one or more position components of the reference point and one or more force components of a reaction force acting on the feeler element, in particular in its reference point, from the environment, in particular a workpiece to be machined, not only position, but also force setpoints are given.

However, in each case one dominant setpoint variable for the control of the manipulator must be predetermined for one or more predefined directions, for example a Cartesian direction relating to a manipulator, track or workpiece reference system, a direction or the like defined by degrees of freedom of the manipulator. Insofar as a direction in the sense of the present invention designates not only Cartesian directions but, for example, also EULER or KARDAN angles, quaternions, DENAVIT-HARTENBERG parameters, actuator or joint positions of a manipulator, axes of a path coordinate system or the like.

In a simple case, either a pure force or a pure position control in different directions is given for different operating points. Thus, for example, for auxiliary points on delivery or lift-off tracks, their positions can be specified as desired values, for operating points in which the manipulator is in contact with the environment, however, the forces imposed there by it.

Equally, in hybrid control concepts, it is also possible to specify positions for specific directions and forces for other directions. For example, when machining a surface, the position may be set in tangential directions of a machining path to optimally follow a machining pattern, while in a direction perpendicular to the surface, a force is given to a desired contact force, such as grinding, polishing or the like, to ensure. In this context, it should again be noted that in the present case, torques are generally referred to as forces, so that according to desired forces can also represent desired torques about predetermined axes. Thus, it may be expedient, for example, in joining operations, for rotary axes by which a manipulator-controlled workpiece must be tilted, optionally specify desired angle or torques.

Advantageous regulations can take into account in one or more directions both a desired position and a desired force, for example, by an impedance control from predetermined target and actual position according to a force law, such as a spring law, determines a desired force and then is adjusted by a force control. Conversely, in an admittance control, a difference between predetermined desired and actual forces can be transformed into a desired position according to a force law and these can be adjusted by a position control. In that regard, one of the position and the force is then used as the dominant setpoint, in the impedance control, for example, the predetermined desired position, in the admittance control the predetermined desired force. Taking into account only one of the position and the force is thus the predetermined the dominant target size in the context of the present invention.

According to the invention, in one or more directions, preferably in one, two or three translational and / or one, two or three rotational degrees of freedom, a dominant setpoint of control of the manipulator is respectively predetermined on the basis of optionally one position component of the detected position or one force component of the detected reaction force ,

In this case, position and force components can first be detected synchronously in the same direction and then one of them can be selected to specify the desired value. Similarly, according to a choice by the user already alternatively only the position or the force component can be detected in this direction.

In order to be able to make this selection advantageously already during the acquisition, in a preferred embodiment an input device of a hand-held device comprises a selection device for selecting from a position component and a force component. This allows, in particular, an intuitive, situation-adapted teaching, since the operator when guiding the handset can determine whether each position or force components are the priority for the process. Equally, it is also possible to choose between the specification based on the position component and the force component after the detection, in particular when programming based on the detected values, after initially detecting both position and force components.

Detected position and / or force components are subjected in a preferred embodiment of a signal processing before predetermined sizes are given on their basis. For example, detected components can be smoothed, filtered and / or sub-sampled in order to reduce or eliminate measuring errors or unwanted micromotion or force fluctuations of the hand-held device.

Signal processing may in particular comprise a transformation of a component detected in one direction in another direction. Thus, for example, be detected by a single-axis force sensor, the pressing force in an axial direction of the probe element and these are projected in the direction perpendicular to a processing surface to be specified as the desired contact pressure.

In addition or alternatively, signal processing may in particular comprise a limitation of a detected reaction to maximum permissible and / or minimally required process forces. Likewise, the signal processing may also include an increase, respectively a reduction, of detected values, in particular constant or proportional. For example, if an operator performs a manipulator-controlled cutting or polishing operation on the workpiece to be machined, the process force exerted by him on the one hand unintentionally varied slightly and on the other hand is lower than the later force to be exerted by the manipulator, the detected force, for example to be transformed by the process conditional minimum contact force.

According to the above, a dominant setpoint may also be the only setpoint of a control, a setpoint given on the basis of a component also this setpoint itself.

Additionally or alternatively to the specification of the desired size based on optionally the position or the force component can be detected on the basis of the detected force according to the second aspect of the present invention, an environmental contact of the handset.

This advantageously makes it possible, for example, to program appropriate transition conditions by, for example, bringing a hand-held device to a workpiece instead of a manipulator-guided tool or displacing it against a stop. Again, one or more directions can be taken into account. Thus, for example, in the above-described grinding by a correspondingly high detected force in a tangential direction to the processing path, the positive reaching a stop on the processing surface detected by the handset and programmed.

The first and second aspects are explained mainly on the basis of the programming of a manipulator. In this respect, it should again be pointed out that both aspects can also be used in a controller, in particular on-line control, in that, for example, a manipulator remotely controlled by the handheld device, which basically initially follows spatially offset the detected position of the reference point of the handheld device with its reference point, detected by a force detection device of the handset environmental contact and consequently, at least directionally selective, can be switched to a force or compliance control, or optionally can be changed between a remote control of a force or position component.

Both aspects can cooperate synergistically, in that, for example, detection directions for forces or positions can advantageously be predetermined by the articulated adjustment of the probe element connected to the position detection device relative to the handling device. Thus, for example, the probe element can be oriented to the handling device so that impressed by this ergonomically favorable desired process forces on a workpiece and the corresponding reaction forces can be detected as setpoints.

A force detection device according to the first aspect preferably has a detection direction which corresponds at least substantially to a thrust direction of a tool simulated by the feeler element, such as an attachment direction of a welding gun or a rotation axis of a grinding or polishing wheel. Additionally or alternatively, further detection directions, in particular three linearly independent directions for detecting individual forces and / or three linearly independent directions for detecting pairs of forces or torques, may be provided, in particular in the form of a more-especially six-axis force and / or moment sensor.

Further advantages and features emerge from the subclaims and the exemplary embodiments. This shows, partially schematized:

1 a portable handset according to an embodiment of the present invention in perspective view;

2 : the handset attached to a workpiece surface 1 in a side view;

3 : the handset after 1 in the plan view;

4 - 6 : the handset after 1 with in different positions pivoted position detection device;

7 a portable handset according to another embodiment of the present invention in a side view;

8th : a force-detecting device of the portable handheld device 1 or 7 in an enlarged view; and

9 the sequence of a method according to the invention.

1 shows a portable handset 1 according to an embodiment of the present invention in perspective view. It comprises a handling device for handling the handset 1 by an operator with a cylindrical handle 2 for the operator and an input-output device 3 in the form of a compact, portable computer, such as a PDA, with a keyboard 3.1 for input of commands by the operator and a display 3.2 to display information. The PDA 3 is detachable on the handle 2 mounted on a handle base (bottom in 1 ) a consent switch 2.1 having.

By means of a ball joint 8th (see. 2 ) is a position detection device 4 articulated with the handling device 3 connected and can be pivoted and rotated relative to this. The rotational degrees of freedom are self-locking, by the ball joint 8th has a correspondingly high friction, the handling device 3 and position detection device 4 fixed against each other and can only be solved by the operator with the application of an additional operating force to overcome the friction. The ball joint 8th thus retains the respective relative position between handling device without intervention by the operator 3 and position detection device 4 however, the operator may be handling device 3 and position detection device 4 in the ball joint 8th pivot against each other and twist.

With the position detection device 4 is a replaceable probe element 5 releasably connected, which has substantially the shape of an outer contour of a cutting tool, and at the tip of a reference point R is defined, which corresponds to the TCP of an actual, manipulator-controlled cutting tool.

For detecting the position of the reference point R based on the position of the position detecting device 4 this is detected by an optical tracking device (not shown). For this purpose, a first ring extends 6 such around the substantially cylindrical position detecting means 4 that its perpendicular bisector 6.2 with the symmetry and longitudinal axis of the position detection device 4 coincides. In a corresponding manner, a second ring extends 7 in such a way around the substantially cylindrical sensing element 5 that its perpendicular bisector 7.2 coincides with its symmetry and longitudinal axis, in the in 2 illustrated detection position is substantially perpendicular to the workpiece surface, as it also corresponds to the shock or guide direction of the actual cutting tool. The longitudinal axes of position detection device 4 and probe element 5 and thus also the perpendicular bisectors 6.2 . 7.2 of the two rings 6 . 6 include an angle 180 ° -β of about 15 °.

About the circumference of both rings 6 . 7 are each circular, reflective markers 6.1 respectively. 7.2 which are detected by CCD cameras of the tracking device (not shown). The detection direction of the markers 7.1 ie the surface normal 7.3 on the flat markers, in which these reflect maximally and accordingly can be detected particularly well by the CCD cameras, is in 2 for a marker of the ring 7 drawn in solid and, as in 2 recognizable, at an angle α of about 45 ° to the longitudinal axes of probe element 5 , ie mid-perpendicular 7.2 of the ring 7 inclined.

The markers 6.1 of the ring 6 are each in the same direction as their corresponding markers 7.1 of the ring 7 aligned. Due to the opposite to the perpendicular bisector 7.2 by the angle of about 15 ° deviating orientation of the bisectors 6.2 therefore arise for each marker 6.1 different angular positions of the markers 6.1 on the ring 6 , In other words, the orientation of the markers aligns 6.1 not according to the position of the mid-perpendiculars 6.2 , but according to the position of the perpendicular bisector 7.2 ,

Upper and lower ring 6 . 7 have distributed over the circumference of trapezoidal surfaces, wherein in each trapezoidal area a marker is arranged. The markers are aligned with respect to the respective trapezoidal surface. Accordingly, each trapezoidal surface is the marker of the upper ring 6 different from the perpendicular bisector 6.2 aligned. As in 2 to see is the trapezoid surface of the upper ring on the far left 6 very steep and the rightmost trapezoidal surface of the upper ring 6 very flat. In other words, a trapezoidal surface of the upper ring 6 in a certain segment always parallel to the trapezoidal surface of the lower ring 7 aligned.

Will the probe element 5 , which has the shape of a dummy tool, with its reference point R in an operating point to be detected on the in 2 . 8th indicated by a horizontal line workpiece surface such that its longitudinal axis 7.2 is oriented substantially normal to the workpiece surface, so are the detection directions of the marker 7.1 essentially inclined at 45 ° to the workpiece surface. The CCD cameras of the tracking device (not shown) are also tilted for optimal detection also substantially at 45 ° to the workpiece surface, so that they are essentially directly on marker 7.1 look and reflect this maximum in the CCD cameras. Also the markers 6.1 of the ring 6 the contrast, bent by 15 ° position detection device 4 are against the perpendicular bisector 7.2 of the lower ring 7 tilted at about 45 ° and thus very well captured by the CCD cameras.

Through the kink between the perpendicular bisectors 6.2 . 7.2 The Rings 6 . 7 is, as in particular in the plan view of 3 recognizable, a complete optical occlusion of the ring 7 through the ring 6 prevents and thus a detectability of both marker rings 6 . 7 from a variety of camera positions and in a variety of different orientations of the handset 1 guaranteed.

As in the 4 to 6 illustrated by way of example, by pivoting and rotating the position detection device 3 in the ball joint 8th against the handling device 2 . 3 with consistently good ergonomic positioning of the handle 2 , Display 3.2 and keyboard 3.1 a variety different orientations of the dummy tool 5 be represented, wherein the aforementioned embodiment of the position detection device 3 always a good detectability of markers 6.1 . 7.1 is made possible by the optical tracking device and by the immovable attachment of the probe element 5 at the position detection device 3 the transformation from the reference point R to a position detector fixed coordinate system whose position is determined by the markers 6.1 . 7.1 is determinable, constant.

By pressing a switch 3.1 The operator can adjust an additional axis of a tilt and turn table (not shown) and so fixed on this table workpiece on which he with the handset 1 Move to work points, move. It can also be a multi-function switch, which adjusts the additional axis only if previously a corresponding menu was called. In a modification, not shown, the display 3.2 designed as a touch screen on which one or more input switches are defined

In 2 the position of the hand-held reference point R in the detection position on the workpiece surface recognizable. Without measurement and calculation errors, the spatial position of this reference point on the workpiece surface is thus stored as the spatial position of an operating point. However, due to measuring or calculation errors, the spatial position of the stored operating point can be erroneously located within the workpiece contour (below the horizontal line in FIG 2 ), which results in a program with this wrong stored spatial position causing the welding tool tip to collide with the workpiece. Therefore, according to a method according to the invention, the main direction, by the probe element 5 is defined, ie in general the tool thrust direction specified as the direction of displacement. Already when storing the spatial position or only when reworking or checking the stored operating points, the operator can move the stored wrong position in the predetermined displacement direction targeted and defined from the workpiece by entering a corresponding displacement amount and store this shifted position as the operating point of the manipulator. In this way, the collision-free spatial position outside the workpiece is stored as a target operating point. Later, when approaching with the manipulator tool this can be moved back along the displacement axis to the impact on the workpiece surface.

In 8th is a force detecting device in the form of a sensor 10 shown enlarged, which, in particular in the 1 . 2 and 7 recognizable, on a flange of the probe element 5 attached and thereby oriented so that its detection directions with the shock or Aufsetzrichtung of the probe element 5 coincides so that it detects in this direction a reaction force F, which on the probe element 5 acts when an operator presses this with a force against the workpiece, which is to impress in operation of the manipulator as a process force. It is also possible to provide multiaxial sensors which additionally detect reaction force components in other directions. In particular, a sensor as a torque or torque sensor can alternatively or additionally detect torques about detection axes. In addition, a single- or multi-axis sensor can also be located elsewhere, for example between the probe element 5 and position detection device 4 but also in the joint, for example 8th be arranged to such, optionally with appropriate transformation, in the reference point R on the probe element 5 to capture acting reaction forces.

The handset detects at cyclic intervals, for example at a frequency of 40 Hz, based on the position of the position detecting device 4 the position of the reference point R, in particular its Cartesian position components x, y, z in a given reference system and its orientation components in the form of the EULER or KARDAN angles α, β, γ of a reference point fixed coordinate system against the reference system, hereinafter for clarity only on the components x, y in the processing surface of the workpiece and z is entered perpendicular thereto. In synchronism with this, the forces are detected, whereby for a clearer representation below only the force F detected in the impact direction is discussed.

Will the operator now using the handset 1 program a cutting of the workpiece with a predetermined contact force perpendicular to the working surface, he performs the corresponding cutting tool the probe element 5 in the desired manner to the processing surface and then under manual impression of the desired contact force along a desired machining path on the workpiece.

Already during this teaching or in connection to this he chooses, for example, by appropriate, menu-guided entry via the keys 3.3 , For the directions .DELTA.x, .DELTA.y tangentially to the machining surface, the recorded position component x, y as the sole and thus dominant setpoint variables x _s , y _{s of} a position control. For the direction z, on the other hand, he chooses, again by corresponding menu-driven input via the keys 3.3 , For a contact-free state, the position component z as sole setpoint variables of a position control, for contact between buttons 5 and workpiece, on the other hand a force control. The transition between the contacting and non-contact states can be detected precisely based on the significantly changing detected force F. Similarly, the operator can also select manual between the position component z and the force F, such as by appropriate input via a button 3.3 as soon as he with the button 5 the workpiece touches.

Subsequently, for example, in the handset 1 itself or in a processing device (not shown), which receives the handset detected positions and forces wirelessly, by wire or via an interface, the reaction force F projected in the z-direction and the resulting component F _z as a target size F _{s of} the force control in this z Direction specified. In this case, previously or subsequently the detected position components x, y and / or the force component F _z or F _{s are} detected by a suitable signal processing S (cf. 9 smoothed).

Subsequently, the position or force components thus obtained are used as desired variables of a position or force control in the respective direction in a manipulator control C (cf. 9 ) stored so that it performs the manipulator-guided cutting tool on the taught by the operator by the hand tool processing path on the workpiece surface with the desired contact pressure perpendicular to the processing surface during execution of the program.

9 shows the corresponding method steps: first, both the positions x, y, z, ... and the forces F, F _x , F _y , ... are detected synchronously.

For each direction, for example the Cartesian directions x, y, z and the orientation directions α, β, γ, or by the degrees of freedom, in particular joint positions of the manipulator defined directions, a position or a force component is selected, as in 9 indicated by schematic switching positions. In this case, the operator has in advance by input via the keys 3.3 the position components x, y, in the tangential directions .DELTA.x, .DELTA.y selected to the processing surface.

For the z-direction perpendicular to this, the operator has either selected a switchover on contact. This contact is detected on the basis of the detected force F. In this way, automatically selected between a specification of the position component z perpendicular to the processing surface in the non-contact state and the specification of the force component F _z as a target variable for the manipulator control C, as in 9 indicated. Similarly, the operator can also manually, for example, again via appropriate input via the keys 3.3 , select the force component F _z as desired value for the manipulator control C for desired regions of the taught path.

The selected variables are according to a signal processing S, for example, a smoothing, but also a transformation, the same respectively at least partially in the handset 1 and / or after transmission of its data, for example in a processing device (not shown), can be used as set values of the manipulator control C. For clarity, again only the mentioned of a total of six components are shown.

LIST OF REFERENCE NUMBERS

1

handset

2

Handle (handling device)

2.1

Enabling switch

3

portable computer (handling device)

3.1

Key (input device)

3.2

Display (output device)

3.3

Keys (dialing device)

4

Position detection device

5

scanning element

6, 7

marker ring

6.1, 7.1

reflective marker

6.2, 7.2

Perpendicular bisector

8th

ball joint

10

Force sensor (force detection device)

α

Angle between detection and main direction

180 ° -β

Angle between mid-perpendiculars of the marker rings

R

Reference point (TCP)

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• WO 01/30545 A1 [0005]
• DE 10048952 A1 [0006]
• DE 102008062624 [0007]

Claims (14)

Portable handset ( 1 ) for controlling and / or programming a manipulator, in particular a robot, with a handling device ( 2 . 3 ) for handling the handset by an operator; a feeler element ( 5 ) at which a reference point (R) is defined; a with the probe element, in particular releasably connected position detection device ( 4 ) for detecting a position (x, y, z, α, β, γ) of the reference point; characterized in that the handling device ( 2 . 3 ) and the position detection device ( 4 ) are hinged together, and the handset is a force detecting device ( 4 ) for detecting a force acting on the probe element reaction force (F). Hand tool according to claim 1, characterized in that handling device and position detection device, in particular releasably, in a rotary joint ( 8th ) are connected to each other with at least one, in particular lockable or self-locking, rotational degree of freedom. Hand-held device according to one of the preceding claims, characterized in that the handling device has an input device ( 3.1 ) for input by the operator, an output device ( 3.2 ) for output to the operator and / or a handle ( 2 ) for the operator. Hand-held device according to claim 3, characterized in that the input device ( 3.1 ) is arranged to control an additional axis of the manipulator, in particular a tool table and / or a selector ( 3.3 ) for selection from a position and a force component. Hand tool according to one of the preceding claims, characterized in that the feeler element or the position detection device and the probe element connected to it substantially have the shape of at least part of an outer contour of a manipulator tool. Hand-held device according to one of the preceding claims, characterized in that the position detection device at least one active and / or passive marker ( 6.1 . 7.1 ) and / or at least one sensor for detecting the position. Hand-held device according to claim 6, characterized in that the position detection device comprises a plurality of markers ( 6.1 . 7.1 ) and / or sensors which are arranged over the circumference of at least one ring ( 6 . 7 ), which extends around the, in particular substantially cylindrical, position detecting device. Hand-held device according to one of the preceding claims, characterized in that a detection direction of at least one marker ( 6.1 . 7.1 ) and / or sensor at an angle (α) against a main direction of the, in particular substantially cylindrical, probe element and / or the, in particular substantially cylindrical, position detecting means is inclined, between 15 ° and 75 °, in particular between 30 ° and 60 ° is. Method for controlling and / or programming a manipulator, in particular a robot, wherein a position (x, y, z, α, β, γ) of a reference point (R) of a handheld device ( 1 ), in particular according to one of the preceding claims, as well as a reaction force (F) acting on this handset and a dominant setpoint (x _s , y _s , F _s ) of a control of the manipulator in at least one direction based on optionally one position component (x, y) the detected position or a force component (F _z ) of the detected reaction force is predetermined. A method according to claim 9, characterized in that a position and a force component in the same direction are detected synchronously or alternatively. Method according to one of the preceding claims 9 to 10, characterized in that is selected during or after the detection between the specification based on the position component and the force component. Method according to one of the preceding claims 9 to 11, characterized by a signal processing (S) of a detected position and / or force component. Method, in particular according to one of the preceding claims 9 to 12, for controlling and / or programming a manipulator, in particular a robot, wherein a position (x, y, z, α, β, γ) of a reference point (R) of a handheld device ( 1 ), in particular according to one of the preceding Claims 1 to 8, and a reaction force (F) acting on this hand-held device is detected and an ambient contact of the hand-held device is detected on the basis of the detected force. Computer program product with program code, which is stored on a machine-readable carrier and comprises a computer program that a method according to one of the preceding Claims 9 to 12 executes when it runs in a computer.

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